A hierarchical model predictive control framework for autonomous ground vehicles

Abstract—A hierarchical framework based on Model Predic-tive Control (MPC) for autonomous vehicles is presented. We formulate a predictive control problem in order to best follow a given path by controlling the front steering angle while fulfilling various physical and design constraints. We start from the low-level active steering-controller pre-sented in [3], [9] and integrate it with a high level trajectory planner. At both levels MPC design is used. At the high-level, a trajectory is computed on-line, in a receding horizon fashion, based on a simplified point-mass vehicle model. At the low-level a MPC controller computes the vehicle inputs in order to best follow the desired trajectory based on detailed nonlinear vehicle model. This article presents the approach, the method for imple-menting it, and successful preliminary simulative results on slippery roads at high entry speed. I